SoRoPCC is the MATLAB toolbox based on the Piecewise-Constant-Curvature modelling of soft robots.
It allows you to simulate and control a customizable soft manipulator, both for Shape Control and for Task-space Control, either by controlling the curvature of each CC segment or the position and orientation of the tip of the robot.
Tutorial: https://drive.google.com/file/d/1ndIynUdOlsXaNiHhlxseBl5-QKBwDKwX/view?usp=sharing